252a0d73df
Add sleep related data structures
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PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
2025-11-06 12:10:55 -08:00
3080e3424f
Update mjx-warp ffi, prepare for render.
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PiperOrigin-RevId: 829027266
Change-Id: Ifca30885fb6302e8ce61f949fdc0f56674bbe9e4
2025-11-06 11:04:44 -08:00
fa062768f4
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 829017789
Change-Id: I2756e349297cd0ae53a63a38fb203e2fd2d5cb99
2025-11-06 10:42:32 -08:00
d0f32a7fe6
Modify mjx.Model tex_data type.
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PiperOrigin-RevId: 828606695
Change-Id: I708dcf8e75766bf16d339999a9e8c70c8f65fd0c
2025-11-05 13:33:11 -08:00
c34ac712a0
Import warp-lang 1.10.0.
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PiperOrigin-RevId: 828583884
Change-Id: Ia1c6d8c41fa0785360b85287cab562228fcc80cf
2025-11-05 12:35:25 -08:00
501e561563
Import NVIDIA/warp from GitHub.
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PiperOrigin-RevId: 827602811
Change-Id: I42f96098df4665de60065409b454688f92e976d1
2025-11-03 12:24:28 -08:00
fbb95d5e8c
Import NVIDIA/warp from GitHub.
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PiperOrigin-RevId: 826571491
Change-Id: I294abc5aa3714345ab295636d12428293ea69285
2025-10-31 11:47:29 -07:00
d001bd6525
Add naconmax, deprecation warning for nconmax.
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PiperOrigin-RevId: 825018530
Change-Id: I344b296ac4353592d65a85b826850eaa7df5d39a
2025-10-28 06:59:01 -07:00
8c5154c9a3
Fix testspeed for mjx-warp.
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PiperOrigin-RevId: 823691704
Change-Id: If90f6137915de134fdda3c7616bc810555c25d87
2025-10-24 15:47:14 -07:00
7bf065c75b
Implement equivalents to mj_getState, mj_setState and mj_stateSize in mjx
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PiperOrigin-RevId: 823158825
Change-Id: I06bbf603f61ef2de8f83f32a211e8d468e0b7c5c
2025-10-23 13:09:51 -07:00
2893c3344c
Allow mjx.ray to exclude multiple bodies.
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PiperOrigin-RevId: 820236386
Change-Id: I41229fa52043d844d116b540d60053628d1a842b
2025-10-16 08:03:46 -07:00
0d4f6231be
Make JAX-Warp FFI more robust. Prepare for warp-lang 1.10. Fix #2894
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PiperOrigin-RevId: 819381906
Change-Id: I1f16abcbe02884445725c3087aa97af941131533
2025-10-14 13:48:43 -07:00
67960543a0
Updates for MJX viewer to help avoid graph recapture when impl='warp'.
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PiperOrigin-RevId: 819312078
Change-Id: I2f94eff9720fac8d06017123a51770d39743f2d6
2025-10-14 11:14:59 -07:00
5f55e96810
Fix _get_data_into_warp.
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PiperOrigin-RevId: 817681130
Change-Id: Iceb622e5655021ac25388ec28f1f78fe61f58ddc
2025-10-10 09:44:35 -07:00
38af2e2d00
Export mujoco_warp/pyproject.toml.
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PiperOrigin-RevId: 817541914
Change-Id: I271f66c26699c1c9d15133420e189d5c525deae6
2025-10-10 02:02:57 -07:00
192da87475
Remove _full_compat from MJX io.
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PiperOrigin-RevId: 817337868
Change-Id: Ic61b8d57937452371b85416c624ff2672c908aac
2025-10-09 14:26:19 -07:00
50e163748d
Use correct tile sizes in 3p mujoco_warp now that launch_tiled bugs are fixed.
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PiperOrigin-RevId: 817310391
Change-Id: I652509ba8d6dcd514b264eb450952e6980e48f1e
2025-10-09 13:18:45 -07:00
b56cf98e41
Import google-deepmind/mujoco_warp from GitHub. Update MJX io.py.
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PiperOrigin-RevId: 816431884
Change-Id: I54881e7e350fbe5b2be1833e66745894b122f374
2025-10-07 16:43:30 -07:00
f83ee3fd73
Update mujoco_warp.
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Also remove mujoco_warp tests and test data from this repo.
PiperOrigin-RevId: 816239754
Change-Id: Ie89ef043d40bb43d1e1150acd33b5f4cbf162ab8
2025-10-07 09:50:21 -07:00
fd9b989bf8
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 816099854
Change-Id: I6302a97c2f5d4594a08ebf4bc53a180b804360e6
2025-10-07 17:47:55 +01:00
431f96572e
Remove unused mjOption.apirate.
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PiperOrigin-RevId: 815633571
Change-Id: Ib98f3eb2df47f96fa1fe6e987a3a0cd23a9479f6
2025-10-06 02:51:17 -07:00
680f880b03
Remove unused functions from collision_convex.py.
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PiperOrigin-RevId: 815605363
Change-Id: Ia1978a2e84cedd3c4382164562d672d1d6f20c43
2025-10-06 01:21:47 -07:00
6ae9cc8061
Fix #2508 .
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PiperOrigin-RevId: 814761747
Change-Id: Ic3d1ed359f377799126987c3640b7e534e764c6b
2025-10-03 11:17:14 -07:00
6e6253c4d5
Remove redundant line in types.py
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PiperOrigin-RevId: 814749110
Change-Id: Ic335e3ffc724a62a2d0660295afdfeb288f6c96a
2025-10-03 10:43:52 -07:00
53360f51a9
Update .readthedocs.yml to install MuJoCo Warp in order to generate API documentation. Additionally, mirror mujoco_warp/pyproject.toml in mjx/mujoco/mjx/third_party/mujoco_warp.
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PiperOrigin-RevId: 814656860
Change-Id: Ie4c0e9076c90b598dedc65a3e9793ed3d2375c37
2025-10-03 05:39:45 -07:00
33a30480f8
Updates for MJX viewer related to Warp backend.
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PiperOrigin-RevId: 814604809
Change-Id: I1cdb135f8f01b399163ece7415b09fd977ce7ad8
2025-10-03 02:25:24 -07:00
8eacacfd13
Import NVIDIA/warp from GitHub.
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PiperOrigin-RevId: 814423562
Change-Id: Ibf441f161e25c51c494de84b0d263b32af76545c
2025-10-02 16:08:26 -07:00
bdccbcc60a
Add multiccd fields to MJX and add simplex box-mesh model.
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PiperOrigin-RevId: 813190617
Change-Id: Idc450da59d6420825077a642719525750f6551ec
2025-09-30 03:40:29 -07:00
60cb976e82
Add assertion for leading dims in MJX-Warp.
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PiperOrigin-RevId: 808624659
Change-Id: I259f9cd753bdffbe465ae807ec957f123e8d589e
2025-09-18 09:52:44 -07:00
eb96dd556c
Reduce ccd_iterations from 50 to 35.
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PiperOrigin-RevId: 808610578
Change-Id: I8755f9ba2902bf0805b7ded07ee6e048e404a31f
2025-09-18 09:16:52 -07:00
0e61a4ac5e
Remove jaxlib.hlo_helpers.
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This module has been deprecated for many months and its replacement is jax.ffi.
PiperOrigin-RevId: 808567797
Change-Id: I5b4f4eee5e65ccd86e597c5761e68c36292b6209
2025-09-18 07:18:23 -07:00
f2fcd05b1b
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 807766737
Change-Id: I1c22361ffa61f27fd8e0fd534b96488531761916
2025-09-16 11:08:56 -07:00
89152fb39e
Import NVIDIA/warp from GitHub.
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PiperOrigin-RevId: 806000657
Change-Id: I5127baf8d212c5fc7bd597c843957f4b279d52db
2025-09-11 15:06:55 -07:00
da2fad4530
Catch RuntimeErrors when importing warp.
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PiperOrigin-RevId: 805586914
Change-Id: Ica3ca016c8056316d1d2f052e4d3481f578a8aad
2025-09-10 17:53:41 -07:00
8acd83f317
Add passive collision mode for flexes.
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PiperOrigin-RevId: 801754907
Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8
2025-09-01 04:13:58 -07:00
b092563cab
Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING.
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PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
2025-08-29 06:06:28 -07:00
ba47402853
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 800210640
Change-Id: I06d05ee2560f54d975458f0e13b37157c088c33b
2025-08-27 16:11:11 -07:00
9eaa31af2f
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 799614257
Change-Id: Ie05d4dd7c45308ed5e8010c3eca4b68f552335ea
2025-08-26 10:17:11 -07:00
ec94bb49aa
Make constraint island discovery on by default.
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Also fix latent bug in mjData serialization.
PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
2025-08-26 04:27:24 -07:00
3dec35a91e
Do not update qacc_warmstart at the end of the solver call; instead, update it at the same time as all other state variables. This change makes mj_forward idempotent.
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PiperOrigin-RevId: 797826112
Change-Id: Ibc51624adc3ec42c265958bf77696b33231431c1
2025-08-21 10:44:05 -07:00
c7a82c32dc
Do not update qacc_warmstart at the end of the solver call; instead, update it at the same time as all other state variables. This change makes mj_forward idempotent.
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See changelog herein for motivation and discussion.
PiperOrigin-RevId: 797392841
Change-Id: If50e9f09e1d07e8363169d3589c32097aeca2432
2025-08-20 11:30:13 -07:00
bf04103b6f
Import google-deepmind/mujoco_warp from GitHub.
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#MIGRATION_3P_PY_MUJOCO_WARP__DEFAULT
- 19dde09e179dbbaf4d07084185074f6a774b3255 update derivative.py by Taylor Howell <taylorhowell@google.com >
- 04bc115c3766e974ef000cca16d40bacb92c01d2 fix _ray_hfield by Taylor Howell <taylorhowell@google.com >
- 7fcbf8ddba08c9b9d33b0fdd4dd3fe39e40a0bd7 Use sparsity structures in `mjModel` rather than `mjData` by Yuval Tassa <6387526+yuvaltassa@users.noreply.github.com >
- bfd2e4fe3cb5ba5dee97445ddc1d072344f443ec Fix override for enums (#617 ) by Kenny-Vilella <163487060+Kenny-Vilella@users.noreply.github.com >
- f4dbf5345bd5dcae60c415361dd425605b672e5c Add keyframe selection to viewer (#616 ) by Kenny-Vilella <163487060+Kenny-Vilella@users.noreply.github.com >
- 0e7edf9e8fd337502586929b2e4dd3d51201f462 add prunning to multiccd by Kyle Bayes <42924292+kbayes@users.noreply.github.com >
- 791c30237cbdecf876bc53ac0b3dcff8b8b1317d format by Kyle Bayes <42924292+kbayes@users.noreply.github.com >
- 7a7bae6c1390df3f29058e90f25f9ed5caab3fb1 Fix override in viewer and testspeed (#620 ) by Kenny-Vilella <163487060+Kenny-Vilella@users.noreply.github.com >
- 9e230c229c7dd721fbf6fa5fe69fc98717895500 add + 0.0 by Taylor Howell <taylorhowell@google.com >
- 8a70a5e8839b84c11601bf1a98f9e7d1d31603f1 Update the test_cost unit test to test more properties (#... by Kenny-Vilella <163487060+Kenny-Vilella@users.noreply.github.com >
- cf317c60845b24ddba4b6814dbac9eba32b4c8b0 parallel linesearch with log scale for step sizes (#575 ) by Taylor Howell <taylorhowell@google.com >
- b73e4edbc0d331d1e4f15c006d4535cc59595e70 add better reporting (#600 ) by adenzler-nvidia <116633880+adenzler-nvidia@users.noreply.github.com >
- 007ad0b204ed4d48584024cce4676ac25a5695b5 Optimization: Fusing kernels around update_gradient_JTDAJ... by Kenny-Vilella <163487060+Kenny-Vilella@users.noreply.github.com >
- 640a89fcf452b9564508cacdeb30ecef3a83aede Adding static to broadphase filter (#621 ) by Kenny-Vilella <163487060+Kenny-Vilella@users.noreply.github.com >
- daca09ff3261db2713abc912191d6cf76437b8b7 Add reporting of converged worlds in testspeed (#619 ) by Kenny-Vilella <163487060+Kenny-Vilella@users.noreply.github.com >
- 33830bddd95a7f0d3febe1b090398ddadeb86ee2 Fix call to benchmark from asv (#627 ) by Kenny-Vilella <163487060+Kenny-Vilella@users.noreply.github.com >
- 382eb65f7bb45798698f4025a980287ab1ec84c7 Update flex_bending dimensions (#628 ) by Alessio Quaglino <102665781+quagla@users.noreply.github.com >
- c56b8875439cfaa93c1393f0a6e2ad057e029064 contact sensor maxforce reduction (#602 ) by Taylor Howell <taylorhowell@google.com >
- 4f731941cb9dea397d4f71cf8151100b83eae576 A few airspeed velocity improvements. (#626 ) by Erik Frey <misc@fawx.com >
PiperOrigin-RevId: 797054114
Change-Id: I380e0b9446f94202b2389e2a760d6de5f0ec5af7
2025-08-19 16:01:28 -07:00
fd96de330e
Updates to Playground for warp.
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PiperOrigin-RevId: 797037846
Change-Id: I3828b48aead8a7534a4e8cd735c96017353daa3b
2025-08-19 15:12:31 -07:00
b66175eba6
Bending stiffness for curved shells in flex.
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PiperOrigin-RevId: 796361841
Change-Id: I105ea235fe2a8e1bcbde67276d77fa92eed214a1
2025-08-18 04:13:18 -07:00
977f94e9df
Delete sparsity structures from mjData, use the ones in mjModel
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PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
2025-08-14 09:13:02 -07:00
0ba31e2c1f
MJX safe division. Fixes #2776 , #2568 , #2657 .
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PiperOrigin-RevId: 794997676
Change-Id: I3100af7c1987a8435b29cc68c4e5c624dc573986
2025-08-14 05:49:12 -07:00
1763fa537a
Add ten_length as MJX public field and warp tendon function call to MJX.
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PiperOrigin-RevId: 794869371
Change-Id: I733da169b0092e3165478324697d7aa3569eca8b
2025-08-13 21:54:18 -07:00
d3ff929bc6
Add ten_length as MJX public field and warp tendon function call to MJX.
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PiperOrigin-RevId: 794813523
Change-Id: Ic5684788eca5a3f4fd86193ec5d035d40b3aad35
2025-08-13 18:09:22 -07:00
d7e925bd8a
Add ten_length as MJX public field and warp tendon function call to MJX.
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PiperOrigin-RevId: 794801198
Change-Id: I970ce665339c75910a767a1b24d8ac9c2bd68b1d
2025-08-13 17:27:16 -07:00
1a7ec97b07
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 794774483
Change-Id: I2d8d623bbdfe9f28d4ab96bfc3c9128caa9fe86c
2025-08-13 16:08:03 -07:00
Yuval Tassa